# Motor Characteristics
Motor parameters were found by applying various set motor efforts to measure responses. 

| Parameter         | Value                  |
|-------------------|------------------------|
| Time constant     | 0.05 [s]               |
| Steady-state gain | 0.21 [rad/(s*V)]       |
| Startup Effort    | 0.52 [V] or ~ 8%       |

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![RM Step Response](image-2.png)

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![RM Linearized Velocity](image.png)

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![RM Gain Determination Plot](image-1.png)